def compute_omp_descriptors(
scene_root, descriptor_type, basename_in, radius, njobs, percentile, verbose=True, basename_out="descriptors"
):
# figure out the resolution from the scene _info.xml
resolution = parse_scene_resolution(scene_root + "/scene_info.xml")
print "Resolution for site is : " + str(resolution)
features_dir = scene_root + "/" + descriptor_type + "_" + str(radius)
if not os.path.exists(features_dir + "/"):
print features_dir + "/"
os.makedirs(features_dir + "/")
if not verbose:
vpcl_batch.set_stdout("./logs/log_" + descriptor_type + "percetile" + str(percentile) + ".log")
file_in = scene_root + "/" + basename_in + "_" + str(percentile) + ".ply"
file_out = features_dir + "/" + basename_out + "_" + str(percentile) + ".pcd"
if verbose:
print "Processing: "
print file_in
print "Saving to:"
print file_out
vpcl.compute_descriptor(file_in, file_out, radius * resolution, descriptor_type, njobs)
if not verbose:
vpcl_batch.reset_stdout()
print "Done"
if not os.path.exists(features_dir + "/"):
print features_dir + "/"
os.makedirs(features_dir + "/");
if not verbose:
py_vpcl.set_stdout("./logs/log_" + descriptor_type + 'percetile' + str(percentile) +'.log')
for file_in in objs:
#features get written to a .txt file for now -- PCL reader/writter doesn't handle variable length descriptos
file_out= features_dir + "/" + os.path.basename(file_in);
file_out = file_out[:-len(".ply")]
file_out = file_out + ".txt";
if verbose :
print "Processing: "
print file_in
print "Saving to:"
print file_out
vpcl.compute_descriptor(file_in, file_out, radius*resolution, descriptor_type, njobs);
if not verbose:
py_vpcl.reset_stdout();
print "Done"
sys.exit(0)
